import launch_ros.actions
from launch import LaunchDescription

# def launch(launch_descriptor, argv):


def generate_launch_description():

    # akmcar = LaunchConfiguration('akmcar', default='true')
    return LaunchDescription([
        launch_ros.actions.Node(
            package='turn_on_bichon',
            executable='bichon_robot_node',
            output='screen',
            parameters=[{
                'usart_port_name': '/dev/bichon_controller',
                'serial_baud_rate': 115200,
                'robot_frame_id': 'base_footprint',
                'odom_frame_id': 'odom_combined',
                'cmd_vel': 'cmd_vel',
                'akm_cmd_vel': 'none',
                'product_number': 0,
                'odom_x_scale': 1.0,
                'odom_y_scale': 1.0,
                'odom_z_scale_positive': 1.0,
                'odom_z_scale_negative': 1.0
            }],
        )
    ])
